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14795 Commits

Author SHA1 Message Date
Beat Küng
5259877b1b control_allocator: update matrix normalization 
- only normalize rpy for MC matrices
- for thrust use the 3D vector, so it works for FW and tilt rotors as well

This keeps MC unchanged.
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer
460a0df850 tiltrotor: fill out thrust_setpoint[0] also in hover, based on tilt and hover thrust 
In the tiltrotor case, beside an F_z thrust setpoint also a F_x setpoint must be passed
to the allocator as the matrix has non-zero thrust-x effectiveness when tilts are applied.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng
09200b994d airship_att_control: publish thrust + torque setpoint 2021-12-24 20:06:13 -05:00
Silvan Fuhrer
478724c9fe EffectivenessTiltrotor: fix logic for matrix update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng
8e04934eab commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST as well 2021-12-24 20:06:13 -05:00
Silvan Fuhrer
39d441317a ActuatorEffectivenssTailsitterVTOL: only enable MC yaw control if more than 3 rotors 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer
426aa76a59 CA/VTOL: change description of VT_ELEV_MC_LOCK as it applies to not just elevons 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer
18008b2de7 CA module.yaml: add motor direction function also to UI for Tailsitter an Tiltrotor 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng
8c782b7cd9 control_allocator: add Custom + MC with tilts effectiveness 
The param group is changed to Geometry, as this reflects the naming in the
QGC UI.
 2021-12-24 20:06:13 -05:00
Beat Küng
627ec0df5d control_allocator: increase STACK_MAIN to 3000 
It was exceeding 2000
 2021-12-24 20:06:13 -05:00
Beat Küng
4d38742371 control_allocator: show VT_ELEV_MC_LOCK for vtol mixers in config ui 2021-12-24 20:06:13 -05:00
Silvan Fuhrer
07306c4be3 control_allocator: add support for Tailsitter VTOL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer
0568cff299 control_allocator: handle thrust allocation for VTOL's properly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer
936f2dff52 logger: log both instances of vehicle_thrust/torque_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng
4f8e6a9548 control_allocator: do not update params while armed 
As a precaution
 2021-12-24 20:06:13 -05:00
Beat Küng
e04b4a8dbf control_allocator: add 6DOF configuration 2021-12-24 20:06:13 -05:00
Beat Küng
4c80adfaf1 control_allocator: implement trim + slew rate limits configuration 2021-12-24 20:06:13 -05:00
Beat Küng
301100ce0e uuv_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng
b5c2cdf6c4 vtol_att_control: do not manipulate PWM outputs if SYS_CTRL_ALLOC == 1 
Not required anymore
 2021-12-24 20:06:13 -05:00
Beat Küng
8d9e2a28c4 control_allocator: add fixed-wing actuator effectiveness 2021-12-24 20:06:13 -05:00
Beat Küng
4d2a403afa control_allocator: add rover actuator effectiveness 
This can be generalized later
 2021-12-24 20:06:13 -05:00
Beat Küng
ed3a115c8f control_allocator: add status publication rate limitation comment 2021-12-24 20:06:13 -05:00
Beat Küng
70e46a194f control_allocator: major refactoring & additions 
- allow effectiveness matrix to select control allocator method
  (desaturation algorithm)
- add actuator_servos publication
- add support for multiple matrices (for vtol)
- add updateSetpoint callback method to actuator effectiveness to allow it
  to manipulate the actuator setpoint after allocation
- handle motor stopping & reversal
- add control surfaces & tilt servos
- handle standard vtol + tiltrotor
- rename MC rotors params & class to be more generically usable
- fixes and enables ActuatorEffectivenessRotorsTest
 2021-12-24 20:06:13 -05:00
Beat Küng
a81f11acdd mc_rate_control: don't publish thrust + torque sp if vtol 2021-12-24 20:06:13 -05:00
Beat Küng
28e995ede2 fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng
4becd6e4c7 rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng
5da67e2e28 vtol_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint 2021-12-24 20:06:13 -05:00
Beat Küng
9c767ff1ee control_allocator: make effective source name a class member 2021-12-24 20:06:13 -05:00
Daniel Agar
712353ea56 gyro_calibration: increase required samples (to be more conservative) 
- make sure variance is checked across all available sensors
 2021-12-24 19:53:44 -05:00
Daniel Agar
38731662c6 parameters use bitset for mark_unsaved 2021-12-24 14:32:40 -05:00
Daniel Agar
b054fc7b8b
navigator: trivial code style fix 2021-12-24 10:55:20 -05:00
seungjo0109
0f7c850080 Fix typo(at modules/navigator_main) 2021-12-24 08:54:43 -05:00
Daniel Agar
7d7d707db9 commander: add COM_HOME_EN parameter to enable/disable home position 2021-12-23 15:46:31 -05:00
Matthias Grob
f68ae39840 Commander: avoid RC actions during calibration 2021-12-22 09:08:23 -05:00
Beat Küng
89974c46b9 mavlink streams: add return in all cases 
Generally not needed here, but GCC produced an error when compiling with
-finstrument-functions.
 2021-12-22 08:47:33 -05:00
Daniel Agar
47fcdb1fdb
sensors/vehicle_angular_velocity: replace ESC/FFT elapsed perf counters with single cycle perf counter 
- non-trivial perf counters (elapsed & interval) are relatively expensive
 - if ESC and FFT notch filtering are enabled this reduces 6 updates (2 per axis) to 1
 2021-12-21 14:21:10 -05:00
Julian Oes
5894f302b5 mavlink: add test for zero padding 
We want to avoid publishing garbage leftover from earlier publications.
 2021-12-21 09:40:36 -05:00
Julian Oes
5cfe30fa2e mavlink: fix include for unit tests 
This is required to find the include directory for the unit test of the
MavlinkStatustextHandler.
 2021-12-21 09:40:36 -05:00
Julian Oes
2e0286e6bb mavlink: support receiving multi-chunk statustexts 
This adds support for mavlink statustext messages arriving in multiple
chunks.
 2021-12-21 09:40:36 -05:00
Julian Oes
9686c81f7d boards: enable flow control on CDCACM 
This enables flow control on CDCACM for the NuttX boards which fixes a
problem where HITL would stall.

The stall could happen if the hardware would be a bit too slow in
keeping up with the incoming messages. Often, this happened on arming
because the logger would take some time to log all parameters right at
the beginning.

The stall would then not recover due to NuttX bug where the rx interrupt
would not be restored correctly and instead only a slower watchdog would
release the next read. This watchdog takes 200ms which means it's hard
to impossible to get out of the situation without restarting sim and/or
PX4.  For more information about the issue, see:
apache/incubator-nuttx#3633

As a workaround, until that bug is fixed, and because it makes sense
anyway, I propose to enable FLOWCONTROL for the serial via USB.
 2021-12-21 08:01:38 +01:00
DanielePettenuzzo
88521b0145 print error only if the mavlink command fails 
In some cases we printed also the mavlink commands that replied
to be unsupported. This is not an error to show in the log.
 2021-12-21 07:37:23 +01:00
Claudio Micheli
9d02851893 vmount: increase stack size to 2100 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-12-20 13:05:15 -05:00
Julian Oes
90fe4b7a54 vmount: publish gimbal v2 protocol for v1 gimbals 
This enables the use case where the gimbal v2 protocol is used
between the ground station and the drone, and the gimbal v1 protocol is
used between the drone and the gimbal.
 2021-12-20 13:05:15 -05:00
Julian Oes
6d74b390d9 vmount: use absolute angle for location tracking 
I'm pretty sure it makes more sense to use an absolute angle to track a
lat/lon location.
 2021-12-20 13:05:15 -05:00
Julian Oes
d88f9353e8 vmount: improve debug message 
This should help to figure out when gimbal commands don't work.
 2021-12-20 13:05:15 -05:00
Julian Oes
f7c4034f3c vmount: fix v1 frames with v2 input 
It looks like the frames for pitch and roll were not set correctly when
v1 is used in v2 input.
 2021-12-20 13:05:15 -05:00
Julian Oes
0ce4eae314 vmount: fix v1 frames for v1 input 
This basically means that we want roll and pitch to be absolute, so
relative to the horizon.
 2021-12-20 13:05:15 -05:00
Julian Oes
a6431ab8f0 simulator: fix implicit-const-int-float-conversion 2021-12-20 10:56:24 -05:00
Daniel Agar
019eaf7038 multicopter: minimize dt jitter by using estimate timestamp_sample 2021-12-17 17:52:28 -05:00
Igor Mišić
89f828fba7 pps_capture: advertise for logging 2021-12-17 07:56:08 +01:00